US8998215B2 - Arrangement for overcoming an obstruction to traveling movement - Google Patents

Arrangement for overcoming an obstruction to traveling movement Download PDF

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Publication number
US8998215B2
US8998215B2 US14/107,145 US201314107145A US8998215B2 US 8998215 B2 US8998215 B2 US 8998215B2 US 201314107145 A US201314107145 A US 201314107145A US 8998215 B2 US8998215 B2 US 8998215B2
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Prior art keywords
travel wheel
travel
lifting part
lifting
arrangement
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US14/107,145
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US20140166375A1 (en
Inventor
Harald Windorfer
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Vorwerk and Co Interholding GmbH
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Vorwerk and Co Interholding GmbH
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Assigned to VORWERK & CO. INTERHOLDING GMBH reassignment VORWERK & CO. INTERHOLDING GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: WINDORFER, HARALD
Publication of US20140166375A1 publication Critical patent/US20140166375A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B15/00—Wheels or wheel attachments designed for increasing traction
    • B60B15/18—Wheels with ground-engaging plate-like shoes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to an arrangement for overcoming an obstruction to traveling movement, preferably on an automatically traveling floor cleaning appliance having a driven travel wheel.
  • Automatically traveling floor cleaning appliances are known, in particular in the form of autonomously operating robotic vacuum cleaning and/or sweeping appliances, further in particular for cleaning and maintaining floor coverings in the household sector.
  • a robotic vacuum cleaning/sweeping appliance is known, for example, from DE 10242257 A1.
  • Such appliances have at least one driven travel wheel, more preferably two such travel wheels, in particular for automatic movement, in particular on the floor to be cleaned.
  • the cleaning appliance has a lifting device, the lifting device comprising a separate drive (cf. DE 202008017137 U1).
  • the lifting device Upon detecting an obstacle, the lifting device is activated, resulting in particular from monitoring the surroundings of the floor cleaning appliance in the course of the traveling thereof.
  • a possible approach to achieving the object is provided according to a first concept of the invention by an arrangement which is designed such that on the travel wheel, a lifting part is mounted in an eccentrically pivotable manner, the lifting part protruding with a front end surface beyond a running surface of the travel wheel in the direction of travel, a counter mounting being provided which is fixed to the housing.
  • a lifting part is mounted in an eccentrically pivotable manner, the lifting part protruding with a front end surface beyond a running surface of the travel wheel in the direction of travel, a counter mounting being provided which is fixed to the housing.
  • the travel wheel By using the eccentrically pivotable lifting part, the travel wheel, and via said travel wheel the floor cleaning appliance as a whole, is lifted onto the obstacle to be traveled over, the traveling over the obstacle advantageously being independent of the diameter of the travel wheel, which in turn has an advantageous effect on the overall configuration of the floor cleaning appliance.
  • a front end surface of the lifting part protrudes, relative to a projection in the direction of extent of the travel wheel axis, beyond the running surface of the travel wheel in the customary direction of travel of the appliance so that sensing of potential obstacles in front of the travel wheel is enabled.
  • the lifting part acts in a lever-like manner as soon as it engages by way of the portion protruding beyond the running surface of the travel wheel against an obstacle that is on a higher level than the floor on which the travel wheel rests.
  • the lifting part is moved only by the drive of the travel wheel.
  • the lifting part is preferably moved directly by the travel wheel on which the lifting part is mounted in an eccentrically pivotable manner.
  • the lifting parts in a preferred configuration, are each moved by the travel wheel on which they are mounted in an eccentrically pivotable manner.
  • an indirect movement of the lifting part is also possible, for example due to a rigid connection between two or more lifting parts, only one lifting part being moved directly by a travel wheel.
  • a mounting axis of the lifting part runs parallel to an axis of rotation of the travel wheel, and further preferably, the mounting axis runs transversely with respect to a customary traveling movement of the appliance, in particular in parallel alignment with the floor plane to be traveled on.
  • the eccentricity of the pivot point of the lifting part on the travel wheel in relation to the axis of rotation of the travel wheel is one-twentieth to up to one-half of the diameter of the travel wheel, more preferably one-eighth to up to one-fourth of the diameter, more preferably approximately one-sixth of the diameter.
  • the front end surface of the lifting part protrudes one-twentieth to up to one times the diameter of the travel wheel, more preferably one-third to one-fifth, in particular approximately one-fourth of the diameter, beyond the running surface of the travel wheel.
  • the end surface in the furthermost retracted position, is flush with the running surface, or, relative to a customary direction of travel of the appliance, remains behind same. Accordingly, in the furthermost retracted position, the end surface preferably does not protrude beyond the circumferential circular contour of the travel wheel or the running surface in a projection in the direction of the axis of rotation of the travel wheel; rather, the end surface preferably is flush with this circumferential circular line of the running surface or lies within the projected area delimited by the circular line of the running surface.
  • the lifting part has a lifting surface in its front end region, which, further preferably, hereby incorporates the end surface.
  • the lifting part In a position of the lifting part freely protruding in a customary direction of travel beyond the running surface, the lifting part is supported by way of this lifting surface on an obstacle, for example, on a sill to be traveled over.
  • a defined region of the lifting part is provided which is formed for interacting with the obstruction.
  • the lifting surface has a slip-resistant design, for example a profiling of the surface, further preferably a finely serrated surface, for interacting in a friction-locked or force-fit manner with a facing surface of the obstruction.
  • the lifting surface is formed, at least partially, by a soft material such as, for example, soft rubber or soft plastics, which in interaction with the supporting surface of the obstacle to be traveled over provides for adhesion that facilitates lifting the appliance.
  • the coefficient of friction in the region of the lifting surface is selected to be greater than that of the running surface of the travel wheel.
  • the running surface of the travel wheel is formed from a material that is hard compared to the lifting surface, such as, for example, hard plastics or hard rubber.
  • the mounting of the lifting part on the housing is formed by means of a control arm that connects the housing to the lifting part.
  • This control arm is preferably connected to the housing of the appliance or to a chassis portion connected to the housing of the appliance so as to be pivotable about an axis that runs parallel to the mounting axis of the lifting part and thus, further preferably, runs parallel to the axis of rotation of the travel wheel.
  • the connecting axis between the control arm and the lifting part likewise runs parallel to the aforementioned axes.
  • control arm mounting on the housing is provided above the axis of the travel wheel and further preferably is associated with a plane which in the customary traveling state of the appliance runs parallel to the floor surface and is at least approximately tangent to the running surface of the travel wheel.
  • control arm mounting on the housing is provided below the travel wheel axis.
  • the ranges and value ranges or multiple ranges specified above and below also include all intermediate values, in particular in increments of 1/10 of the respective dimension, where applicable also without dimension, in particular 1.01-fold, etc., on the one hand for limiting the mentioned range limits at the lower and/or upper limits, and, alternatively or additionally, also with regard to the disclosure of one or more individual values from the respectively specified range.
  • FIG. 1 shows a floor cleaning appliance in a partially cut-open perspective illustration
  • FIG. 2 shows a side view of a travel wheel of the appliance having a swing arm carrying the travel wheel, and an arrangement for overcoming an obstruction to traveling movement, with the appliance traveling in the customary direction of travel;
  • FIG. 3 shows a illustration subsequent to FIG. 2 , relating to an intermediate position of the arrangement during further travel of the appliance;
  • FIG. 4 shows a further subsequent illustration
  • FIG. 5 shows a illustration subsequent to FIG. 4 with a lifting part coming down for lifting the travel wheel onto the obstruction to the traveling movement.
  • FIG. 6 shows a illustration subsequent to FIG. 5 , relating to the position after lifting of the travel wheel onto the obstacle
  • FIG. 7 shows an illustration corresponding to FIG. 4 , but during travel of the appliance opposite to the customary direction of travel;
  • FIG. 8 shows a illustration subsequent to FIG. 7 , relating to an intermediate position in the course of the lifting of the travel wheel or the appliance onto the obstacle.
  • an automatically traveling floor cleaning appliance 1 with a chassis that has driven travel wheels 3 driven by an electric motor on the lower side facing the floor 2 to be cleaned.
  • the chassis is covered by an appliance cover 4 .
  • the appliance 1 preferably has an electromotively driven brush, not illustrated, which passes through the chassis bottom 5 for brushing the floor 2 and which in a further preferred embodiment passes through a suction nozzle through which the floor 2 is suctioned by means of a suction air flow.
  • the individual electrical components of the appliance 1 are supplied with power by a rechargeable battery, not illustrated.
  • the rotational axes x of the travel wheels 3 are oriented transversely with respect to a customary direction of travel r of the floor cleaning appliance 1 , it being further preferred that the travel wheels 3 are arranged on both sides of a central vertical appliance axis of the floor cleaning appliance 1 .
  • Each travel wheel 3 is secured on a trailing arm 6 that is pivotably mounted on the chassis or the appliance 1 .
  • These trailing arms 6 are mounted to be pivotable about a pivot axis that runs parallel to the axis of rotation x of the associated travel wheel 3 .
  • Each travel wheel 3 has a circumferential running surface 7 , preferably made of a hard material such as hard plastics, for example.
  • an arrangement 9 for overcoming such obstructions 8 to traveling movement is provided.
  • Such an arrangement 9 is preferably associated in each case with a travel wheel 3 .
  • the arrangement 9 in first instance has a lifting part 10 .
  • This is essentially a climbing lever-like arm which is preferably associated with a wide side of the travel wheel 3 and is mounted in this region.
  • lifting parts 10 can be provided on both sides of the respective travel wheel 3 .
  • the lifting part 10 is formed as an elongated flat part and is mounted on the travel wheel 3 so as to be eccentrically pivotable about the axis of rotation x thereof.
  • the pivot axis y is situated on a circular line of the travel wheel 3 which is in concentric alignment with the axis of rotation x, and which has a diameter that preferably corresponds to one-fifth to one-sixth of the diameter d of the travel wheel.
  • the lifting part 10 freely protrudes by a dimension a which corresponds approximately to 0.5- to 0.6-fold of the diameter d of the travel wheel.
  • the lifting element 10 preferably extends in extension of the freely protruding portion, the respective end region being connected in an articulated manner to a control arm 11 .
  • This control arm 11 is pivotably mounted on the appliance 1 or the trailing arm 6 .
  • the control arm axis z is preferably situated above the axis of rotation x, and further preferably is aligned parallel to the axis of rotation x, it being further preferred that the pivot axis w between the control arm 11 and the lifting part 10 also runs parallel thereto.
  • the lifting part 10 is preferably driven directly via the associated travel wheel 3 , the pivot axis y in particular, and, moreover, accordingly also the free front end surface 12 of the lifting part 10 , extending on an at least approximately elliptical path.
  • a lifting surface 13 is formed on the lifting part 10 .
  • This lifting surface initially tends to face vertically downwardly, but more preferably extends into the end surface 12 .
  • At least the lifting surface 13 is preferably formed by a soft material such as soft rubber or soft plastics, for example, it being further preferred that the lifting part 10 and the control arm 11 are formed from hard plastics.
  • the lifting part 10 Due to the eccentric securing of the lifting part 10 on the travel wheel 3 and the oscillating mounting via the control arm 11 , in particular the lifting surface 13 is guided on a practically elliptical path, the lifting part 10 during a movement of the floor cleaning appliance 1 in the customary direction r of travel tending to be moved upwardly and forwardly in the course of a displacement of the lifting part from a farthest-back position into a farthest-forward position freely protruding beyond the running surface 7 , which, further preferably, takes place as a result of the proposed eccentric pivot point above the axis of rotation x.
  • the lifting part 10 When the pivot axis y reaches the region below the axis of rotation x of the travel wheel, the lifting part 10 with its free end having the lifting surface 13 is tilted downwardly toward the floor 2 , the lifting part 10 simultaneously being retracted into a retracted position in which the end surface 12 preferably lies within the projection area of the travel wheel 3 .
  • the lifting part 10 in particular the lifting surface 13 thereof, does not come into contact with the floor 2 , so that the floor cleaning appliance 1 can move unhindered via the travel wheels 3 .
  • the lifting part 10 engages onto the obstruction 8 by way of the lifting surface 13 , in the course of the forward displacement in the direction of travel r and the lowering of the lifting part. Due to the further electromotive rotational displacement of the associated travel wheel 3 , the given kinematics, and the frictionally-engaged support of the lifting surface 13 on the obstruction 8 to traveling movement result in lifting of the travel wheel 3 , and therefore of the entire appliance 1 (see FIG. 6 ).
  • the running surface 7 is provided with a lower coefficient of friction than the lifting surface 13 . Furthermore, the running surface 7 is preferably selected such that upon abutment of the running surface 7 against an edge of an obstruction (as illustrated, for example, in FIG. 4 ), the travel wheel 3 possibly rotates right away due to the corresponding blocking by the obstruction 8 of further travel. However, due to the further rotation of the travel wheel 3 right away, the lifting part 10 is moved into the position that lifts the travel wheel 3 .
  • the lifting part may possibly pull the travel wheel against the obstruction 8 to traveling movement so that, beginning at a suitable lead angle, the travel wheel 3 can travel onto the obstruction 8 to traveling movement.
  • the travel drive i.e., the trailing arm 6
  • the travel drive pivots upwardly when the running surface 7 abuts against an edge of an obstruction according to FIG. 8 in such a manner that the associated travel wheel 3 extends further out from the chassis bottom 5 , this taking place along with an increase of the floor clearance, i.e., with an increase of the spacing between the floor 2 and the chassis bottom 5 .
  • the lifting surface 13 of the lifting part 10 reaches the floor 2 in the course of the rotation of the travel wheel 3 , whereupon in the course of the further rotation of the travel wheel 3 , the lifting part 10 lifts the travel wheel so that it can travel onto the obstruction 8 to traveling movement.
  • each lifting part 10 can be mechanically coupled to one another.
  • a configuration is preferred in which each lifting part 10 is driven directly by the associated travel wheel 3 , so that it is thus possible to lift only one travel wheel 3 when there is a corresponding obstruction to traveling movement.
  • travel wheels 3 with relatively small diameters can be used, which advantageously has a positive effect on the overall height of the appliance.
  • An arrangement 9 that is characterized in that a lifting part 10 is mounted in an eccentrically pivotable manner on the travel wheel 3 , the lifting part protruding with a front end surface 12 beyond a running surface 7 of the travel wheel 3 in the direction of travel r, a counter mounting 15 being provided which is fixed to the housing 16 .
  • lifting surface 13 is at least partially formed by a soft material such as soft rubber or soft plastics.
  • An arrangement that is characterized in that the mounting of the control arm is provided above the axis of rotation x of the travel wheel 3 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Handcart (AREA)
US14/107,145 2012-12-17 2013-12-16 Arrangement for overcoming an obstruction to traveling movement Active US8998215B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012112402.7A DE102012112402A1 (de) 2012-12-17 2012-12-17 Anordnung zur Überwindung eines Verfahrhindernisses
DE102012112402 2012-12-17
DE102012112402.7 2012-12-17

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Publication Number Publication Date
US20140166375A1 US20140166375A1 (en) 2014-06-19
US8998215B2 true US8998215B2 (en) 2015-04-07

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US14/107,145 Active US8998215B2 (en) 2012-12-17 2013-12-16 Arrangement for overcoming an obstruction to traveling movement

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US (1) US8998215B2 (ja)
EP (1) EP2743038B1 (ja)
JP (1) JP6441566B2 (ja)
CN (1) CN103860109B (ja)
DE (1) DE102012112402A1 (ja)
ES (1) ES2616303T3 (ja)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130087393A1 (en) * 2011-09-09 2013-04-11 Dyson Technology Limited Drive arrangement for a mobile robot
US20150313438A1 (en) * 2014-05-03 2015-11-05 Bobsweep Inc. Auxiliary Oval Wheel for Robotic Devices
WO2018041190A1 (zh) * 2016-08-31 2018-03-08 科沃斯机器人股份有限公司 自移动机器人
US20190061846A1 (en) * 2017-08-25 2019-02-28 Vorwerk & Co. Interholding Gmbh Automatically moving floor processing device with an adjusting lever
US10647366B2 (en) 2011-09-09 2020-05-12 Dyson Technology Limited Autonomous surface treating appliance

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GB201301578D0 (en) * 2013-01-29 2013-03-13 Dyson Technology Ltd Mobile robot
DE102014005815B4 (de) * 2014-04-24 2016-03-24 Falk Kühnert Fahrbarer Roboter
DE102014110875A1 (de) * 2014-07-10 2016-01-28 Vorwerk & Co. Interholding Gmbh Verfahrteil, insbesondere selbsttätig verfahrbares Bodenreinigungsgerät
DE102015100063A1 (de) 2015-01-06 2016-07-07 Miele & Cie. Kg Saugroboter mit Mitteln zum Überwinden von Hindernissen
CN104691642B (zh) * 2015-03-20 2017-03-08 西南大学 一种多相位连杆轮驱动机构
CN107411655B (zh) * 2016-05-23 2022-10-04 何永 扫地机器人
DE202016105121U1 (de) * 2016-09-14 2017-12-15 Tente Gmbh & Co. Kg Rolle
EP3542695B1 (en) 2016-12-16 2024-05-01 Yunjing Intelligence Innovation (Shenzhen) Co., Ltd. Base station and cleaning robot system
CN110507248A (zh) * 2018-05-22 2019-11-29 科沃斯机器人股份有限公司 自移动机器人行走装置、自移动机器人及其行走方法
DE102018117740A1 (de) 2018-07-23 2020-01-23 Vorwerk & Co. Interholding Gmbh Sich selbsttätig fortbewegendes Fahrzeug mit einem Steighebel
CN109131620A (zh) * 2018-08-31 2019-01-04 深圳市银星智能科技股份有限公司 移动装置
CN109018053A (zh) * 2018-08-31 2018-12-18 深圳市银星智能科技股份有限公司 移动装置
CN112294206B (zh) * 2019-07-29 2023-02-28 美智纵横科技有限责任公司 越障轮装置及自行走机器人
KR102309306B1 (ko) 2019-11-29 2021-10-06 엘지전자 주식회사 로봇 청소기
CN112315391B (zh) * 2020-10-27 2021-12-17 江苏美的清洁电器股份有限公司 地刷以及清洁设备
DE102021201295A1 (de) 2021-02-11 2022-08-11 Volkswagen Aktiengesellschaft Reinigungsroboter

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US5228709A (en) * 1992-09-10 1993-07-20 Kung-Hsiung Wu Wheelchair driving mechanism
US20020104692A1 (en) * 2000-06-09 2002-08-08 Eiji Nakatsukasa Walker
US6752400B2 (en) * 2000-06-09 2004-06-22 Shimadzu Mectem, Inc. Moving unit
US6935447B2 (en) * 2003-03-04 2005-08-30 Jochum Bierma Stair-climbing hand truck
US20040262060A1 (en) * 2003-06-30 2004-12-30 Samsung Gwangju Electronics Co., Ltd. Driving device for robot cleaner
US20070137905A1 (en) * 2005-12-02 2007-06-21 Youn-Baek Lee Traveling robot
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130087393A1 (en) * 2011-09-09 2013-04-11 Dyson Technology Limited Drive arrangement for a mobile robot
US10647366B2 (en) 2011-09-09 2020-05-12 Dyson Technology Limited Autonomous surface treating appliance
US20150313438A1 (en) * 2014-05-03 2015-11-05 Bobsweep Inc. Auxiliary Oval Wheel for Robotic Devices
WO2018041190A1 (zh) * 2016-08-31 2018-03-08 科沃斯机器人股份有限公司 自移动机器人
US20190061846A1 (en) * 2017-08-25 2019-02-28 Vorwerk & Co. Interholding Gmbh Automatically moving floor processing device with an adjusting lever
US10843751B2 (en) * 2017-08-25 2020-11-24 Vorwerk & Co. Interholding Gmbh Automatically moving floor processing device with an adjusting lever

Also Published As

Publication number Publication date
ES2616303T3 (es) 2017-06-12
DE102012112402A1 (de) 2014-06-18
JP2014117608A (ja) 2014-06-30
US20140166375A1 (en) 2014-06-19
CN103860109A (zh) 2014-06-18
EP2743038B1 (de) 2017-02-01
JP6441566B2 (ja) 2018-12-19
EP2743038A1 (de) 2014-06-18
CN103860109B (zh) 2017-11-21

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